lin-epics-modules/motorBase
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V2.4 version

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This commit is contained in:
MarkRivers
2011-06-28 20:05:08 +00:00
parent 17098e0b5d
commit b4d52e3f33
1 changed files with 6 additions and 6 deletions
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motorApp/HytecSrc/HytecMotorDriver.cpp
+6 -6
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@@ -48,6 +48,8 @@
/* Added firmware version parameter */
/* 2.3 Bugs fix Jim Chen 21/04/2011 */
/* Fixed detecting encoder logic wrong bug */
/* 2.4 Bugs fix Jim Chen 24/06/2011 */
/* Fixed wrong ioc shell command function name */
/* */
/********************************************************************************/
@@ -339,7 +341,7 @@ int HytecMotorController::checkprom(char *pr,int expmodel)
expmodel);
}
return (/* SCO strok && */ishytec && ismodel);
return (/* SCO strok && */ ismodel);
}
// report
@@ -388,7 +390,7 @@ asynStatus HytecMotorController::readInt32(asynUser *pasynUser, epicsInt32 *valu
if ((function == motorPosition_) || (function == motorEncoderPosition_))
{
//update all values and status
pAxis->poll(&moving);
pAxis->poll(&moving);
getDoubleParam(pAxis->axisNo_, function, &dvalue);
*value = (int)dvalue;
}else if(function == HytecFWVersion_)
@@ -541,8 +543,6 @@ static void intQueuedTask( void *pDrv )
pController->drvHy8601GetAxisStatus( pAxis, data[axis] );
}
//printf("\nasynDrover! Pointer=%x\n\n", data[0]); /* for debug */
/* re-enable interrupt. for Linux IOCs */
ipmIrqCmd(ipcarrier, ipslot, 0, ipac_irqEnable);
}
@@ -949,7 +949,7 @@ int acc= GET_REG(this->chanbase, REG_RAMPRATE);
int lsp= GET_REG(this->chanbase, REG_STARTSTOPSPD);
int hsp=GET_REG(this->chanbase, REG_HIGHSPD);
if(this->axisNo_ == 0)
printf("moved=%d, error=%d, desired=%d absp=%d csr=%x acc=%d minsp=%d maxsp=%d\n", (int)stepMoved, (int)error , (int)this->desiredMove, (int)this->absPosition, (int)csr, acc, lsp, hsp);
printf("%d: moved=%d, error=%d, desired=%d absp=%d csr=%x\n",this->axisNo_, (int)stepMoved, (int)error , (int)this->desiredMove, (int)this->absPosition, (int)csr);
*/
setIntegerParam( pC_->motorStatusDirection_, ((csr & CSR_DIRECTION) != 0 ) );
setIntegerParam( pC_->motorStatusHasEncoder_, ((csr & CSR_ENCODDET) != 0) );
@@ -1065,7 +1065,7 @@ static const iocshArg * const Hy8601ConfigArgs[] = {&Hy8601ConfigArg0,
&Hy8601ConfigArg11,
&Hy8601ConfigArg12};
static const iocshFuncDef configHy8601 = {"Hy8601AsynConfig", 13, Hy8601ConfigArgs};
static const iocshFuncDef configHy8601 = {"Hytec8601Configure", 13, Hy8601ConfigArgs};
static void configHy8601CallFunc(const iocshArgBuf *args)
{
Hytec8601Configure(args[0].sval, args[1].ival, args[2].ival, args[3].ival, args[4].ival,